ABB IRB 910INV Product Manual page 564

5 Repair
5.6.10 Replacing the outer arm
Continued
Required consumables
Consumable
Cable straps
Grease
Deciding calibration routine
Decide which calibration routine to be used, based on the information in the table.
Depending on which routine is chosen, action might be required prior to beginning
the repair work of the robot, see the table.
1
Removing the outer arm
Use these procedures to remove the outer arm.
Preparations before removing the outer arm
Remove the robot from the wall or enough space.
1
Continues on next page
564
Action
Decide which calibration routine to use for
calibrating the robot.
• Reference calibration. External cable
packages (DressPack) and tools can
stay fitted on the robot.
• Fine calibration. All external cable
packages (DressPack) and tools
must be removed from the robot.
If the robot is to be calibrated with refer-
ence calibration:
Find previous reference values for the axis
or create new reference values. These val-
ues are to be used after the repair proced-
ure is completed, for calibration of the ro-
bot.
If no previous reference values exist, and
no new reference values can be created,
then reference calibration is not possible.
If the robot is to be calibrated with fine
calibration:
Remove all external cable packages
(DressPack) and tools from the robot.
Action
Decide which calibration routine to use, and take
actions accordingly prior to beginning the repair
procedure.
© Copyright 2019-2022 ABB. All rights reserved.
Article number Note
-
3HAC029132-001 FM 222
Used to lubricate the cable har-
ness.
Note
Follow the instructions given in the refer-
ence calibration routine on the FlexPendant
to create reference values.
Creating new values requires possibility to
move the robot.
Read more about reference calibration for
Axis Calibration in
routine on page
Note
Product manual - IRB 910INV
Reference calibration
798.
3HAC068055-001 Revision: K